/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */

/* 
 * Author: Chad Rockey
 */

#ifndef DEPTH_IMAGE_TO_LASERSCAN_DEPTH_TRAITS
#define DEPTH_IMAGE_TO_LASERSCAN_DEPTH_TRAITS

#include <algorithm>
#include <limits>

namespace depthimage_to_laserscan {

// Encapsulate differences between processing float and uint16_t depths
template<typename T> struct DepthTraits {};

template<>
struct DepthTraits<uint16_t>
{
  static inline bool valid(uint16_t depth) { return depth != 0; }
  static inline float toMeters(uint16_t depth) { return depth * 0.001f; } // originally mm
  static inline uint16_t fromMeters(float depth) { return (depth * 1000.0f) + 0.5f; }
  static inline void initializeBuffer(std::vector<uint8_t>& buffer) {} // Do nothing - already zero-filled
};

template<>
struct DepthTraits<float>
{
  static inline bool valid(float depth) { return std::isfinite(depth); }
  static inline float toMeters(float depth) { return depth; }
  static inline float fromMeters(float depth) { return depth; }

  static inline void initializeBuffer(std::vector<uint8_t>& buffer)
  {
    float* start = reinterpret_cast<float*>(&buffer[0]);
    float* end = reinterpret_cast<float*>(&buffer[0] + buffer.size());
    std::fill(start, end, std::numeric_limits<float>::quiet_NaN());
  }
};

} // namespace depth_image_proc

#endif